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Path Planning with Potential Field-Based Obstacle Avoidance in a 3D Environment by an Unmanned Aerial Vehicle (CROSBI ID 721210)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Batinović, Ana ; Goričanec, Jurica ; Marković, Lovro ; Bogdan, Stjepan Path Planning with Potential Field-Based Obstacle Avoidance in a 3D Environment by an Unmanned Aerial Vehicle // 2022 International Conference on Unmanned Aircraft Systems (ICUAS). Institute of Electrical and Electronics Engineers (IEEE), 2022. str. 394-401 doi: 10.1109/ICUAS54217.2022.9836159

Podaci o odgovornosti

Batinović, Ana ; Goričanec, Jurica ; Marković, Lovro ; Bogdan, Stjepan

engleski

Path Planning with Potential Field-Based Obstacle Avoidance in a 3D Environment by an Unmanned Aerial Vehicle

n this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles equipped with 3D sensors, such as LiDARs. It performs obstacle avoidance in real time and on an on-board computer. We present a novel algorithm based on the conventional Artificial Potential Field (APF) that corrects the planned trajectory to avoid obstacles. To this end, our modified algorithm uses a rotation-based component to avoid local minima. The smooth trajectory following, achieved with the MPC tracker, allows us to quickly change and re-plan the UAV trajectory. Comparative experiments in simulation have shown that our approach solves local minima problems in trajectory planning and generates more efficient paths to avoid potential collisions with static obstacles compared to the original APF method.

Three-dimensional displays, Laser radar, Trajectory planning, Autonomous aerial vehicles, Real-time systems, Trajectory

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Podaci o prilogu

394-401.

2022.

objavljeno

10.1109/ICUAS54217.2022.9836159

Podaci o matičnoj publikaciji

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

Institute of Electrical and Electronics Engineers (IEEE)

978-1-6654-0593-5

2373-6720

2575-7296

Podaci o skupu

International Conference on Unmanned Aircraft Systems (ICUAS)

predavanje

21.06.2022-24.06.2022

Dubrovnik, Hrvatska

Povezanost rada

Elektrotehnika, Temeljne tehničke znanosti

Poveznice